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WO2022172590A1 - Système d'assistance chirurgicale, dispositif côté patient et procédé de commande d'un système d'assistance chirurgicale - Google Patents

Système d'assistance chirurgicale, dispositif côté patient et procédé de commande d'un système d'assistance chirurgicale Download PDF

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Publication number
WO2022172590A1
WO2022172590A1 PCT/JP2021/046775 JP2021046775W WO2022172590A1 WO 2022172590 A1 WO2022172590 A1 WO 2022172590A1 JP 2021046775 W JP2021046775 W JP 2021046775W WO 2022172590 A1 WO2022172590 A1 WO 2022172590A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
medical device
control unit
reference line
prohibited
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/046775
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English (en)
Japanese (ja)
Inventor
剛史 東條
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Medicaroid Corp
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
Medicaroid Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK, Medicaroid Corp filed Critical Kawasaki Heavy Industries Ltd
Priority to US18/264,767 priority Critical patent/US12478443B2/en
Priority to EP21925833.2A priority patent/EP4292558A4/fr
Publication of WO2022172590A1 publication Critical patent/WO2022172590A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • This disclosure relates to a surgery support system, a patient-side device, and a control method for the surgery support system, and more particularly to a surgery support system that avoids interference between arms, a patient-side device, and a control method for the surgery support system.
  • Japanese National Publication of International Patent Application No. 2017-512078 discloses a medical device comprising a plurality of movable arms and end effectors attached to the movable arms.
  • the medical device disclosed in Japanese Patent Application Publication No. 2017-512078 is configured to avoid interference between segments (parts of the medical device). Specifically, a virtual first collision object (first VOC), which is the volume occupied by one segment, is determined. Similarly, a virtual second impact object (second VOC), which is the volume occupied by the other segments, is determined.
  • the first VOC and the second VOC have shapes such as spheres and cylinders. Also, the first VOC and the second VOC are modeled as elastic deformable objects. As a result, one of the first VOC and the second VOC gives a virtual displacement force (repulsive force) to the other VOC.
  • a motion plan for one segment is determined. Then, it is determined whether or not the first VOC of one segment and the second VOC of another segment overlap. Then, in JP-A-2017-512078, when the first VOC and the second VOC overlap, so that the virtual displacement force between the first VOC and the second VOC becomes zero, A motion plan for one segment is adjusted. This avoids collision (interference) between the first VOC and the second VOC.
  • This disclosure has been made to solve the above problems, and one object of this disclosure is to provide a surgical assistance system that avoids interference between arms while facilitating control for avoiding interference. , a method for controlling a patient-side device and an operation support system.
  • a surgical assistance system includes a patient-side device including first and second arms to which medical instruments are attached to distal ends thereof; and a control unit for controlling the operation of the medical device based on the accepted operation, wherein the first and second arms each include a first link portion to which the medical device is attached. and a second link connected to the first link.
  • a reference line that is perpendicular to the extending direction and passes through the second link portion is set, and when the second arm approaches the first arm within the prohibited range, the reference line is within the prohibited range.
  • Arm interference avoidance control is performed to move the second arm relative to the first arm so as to move along the outer edge. Note that "passing through the second link” is a concept that includes the meaning of "passing through the second link” and the meaning of "contacting the second link”.
  • the control unit sets the reference line to the prohibited range.
  • Arm interference avoidance control is performed to move the second arm relative to the first arm so as to move along the outer edge of the arm.
  • the reference line is moved along the outer edge of the prohibited range, thereby moving the second arm closer to the first arm. Move around the arm.
  • the second arm is prevented from approaching the first arm, thereby avoiding interference between the arms.
  • interference between the arms can be avoided simply by moving the reference line set for the second arm along the outer edge of the restricted range of the first arm.
  • Control for avoiding interference can be facilitated as compared with the case where the prohibited-access ranges are set for both of the second arms and the virtual displacement forces between the prohibited-access ranges are calculated. As a result, it is possible to avoid interference between the arms while facilitating control for avoiding interference.
  • a surgery support system includes a patient-side device including first and second arms to which medical instruments are attached to distal end sides, and an operator-side device including an operation unit for receiving operations on the medical instruments. and a control unit for controlling the operation of the medical device based on the accepted operation, wherein the first and second arms are respectively connected to a first link portion to which the medical device is attached and the first link portion.
  • the control unit sets a no-access range in which the medical device attached to the first arm should not be approached, is perpendicular to the direction in which the medical device extends, and A reference line passing through the second link portion is set, and when the second arm approaches within the prohibited access range of the first arm, a plane including the reference line and the direction in which the medical instrument extends becomes the prohibited access range.
  • Arm interference avoidance control is performed to move the second arm relative to the first arm so as to move along the outer edge of the range, and the plane is closer to the medical device than the reference line in the extending direction of the medical device. is the plane on the proximal side of the
  • the "proximal side" means the side opposite to the distal end side of the medical instrument.
  • the controller causes the reference line and the medical instrument to extend when the second arm approaches within the restricted range of the first arm.
  • a plane including a direction performs arm interference avoidance control to move the second arm relative to the first arm so that the plane moves along the outer edge of the prohibited area, and the plane is It is a plane closer to the proximal end of the medical device than the reference line in the extending direction.
  • interference between the arms can be avoided simply by moving the plane set for the second arm along the outer edge of the restricted range of the first arm. Control for avoiding interference can be facilitated as compared with the case where the prohibited approach ranges are set for both of the two arms and the virtual displacement forces between the prohibited approach ranges are calculated. As a result, it is possible to avoid interference between the arms while facilitating control for avoiding interference.
  • a patient-side device operates medical instruments based on operations accepted by first and second arms to which medical instruments are attached to distal ends and by an operation unit that accepts operations on medical instruments.
  • the first and second arms each include a first link portion to which the medical device is attached, and a second link portion connected to the first link portion; sets a no-access range to which the medical device attached to the first arm should not be approached, and sets a reference line perpendicular to the extending direction of the medical device and passing through the second link portion.
  • the second arm relative to the first arm such that when the second arm approaches within the prohibited area of the first arm, the reference line moves along the outer edge of the prohibited area.
  • arm interference avoidance control is performed by moving the arms relatively.
  • the control unit sets the reference line to the prohibited-access range.
  • Arm interference avoidance control is performed to move the second arm relative to the first arm so as to move along the outer edge of the arm.
  • the reference line is moved along the outer edge of the prohibited range, thereby moving the second arm closer to the first arm. Move around the arm.
  • the second arm is prevented from approaching the first arm, thereby avoiding interference between the arms.
  • interference between the arms can be avoided simply by moving the reference line set for the second arm along the outer edge of the restricted range of the first arm.
  • Control for avoiding interference can be facilitated as compared with the case where the prohibited-access ranges are set for both of the second arms and the virtual displacement forces between the prohibited-access ranges are calculated. As a result, it is possible to provide a patient-side device capable of avoiding interference between arms while facilitating control for avoiding interference.
  • a method for controlling a surgical assistance system includes the steps of accepting an operation for a medical instrument attached to distal ends of first and second arms, and operating the medical instrument based on the accepted operation.
  • the step of controlling the operation of the medical device includes the steps of: setting a no-access range with respect to the medical device attached to the first arm; setting a reference line orthogonal to the direction and passing through a second link portion connected to the first link portion of the arm to which the medical device is attached; Arm interference avoidance control is performed to move the second arm relative to the first arm so that the reference line moves along the outer edge of the prohibited range when approaching the prohibited range. step.
  • the reference line when the second arm approaches within the restricted range of the first arm, the reference line is positioned within the restricted range. and performing arm interference avoidance control to move the second arm relative to the first arm so as to move along the outer edge.
  • the reference line is moved along the outer edge of the prohibited range, thereby moving the second arm closer to the first arm. Move around the arm.
  • the second arm is prevented from approaching the first arm, thereby avoiding interference between the arms.
  • interference between the arms can be avoided simply by moving the reference line set for the second arm along the outer edge of the restricted range of the first arm.
  • Control for avoiding interference can be facilitated as compared with the case where the prohibited-access ranges are set for both of the second arms and the virtual displacement forces between the prohibited-access ranges are calculated. As a result, it is possible to provide a control method for a surgical assistance system that can avoid interference between arms while facilitating control for avoiding interference.
  • FIG. 1 illustrates a configuration of a surgical system according to a first embodiment of the present disclosure
  • FIG. It is a figure showing composition of a medical manipulator by a 1st embodiment of this indication.
  • FIG. 3 is a diagram showing the configuration of the arm of the medical manipulator according to the first embodiment of the present disclosure
  • FIG. 10 shows a forceps
  • Fig. 2 is a perspective view showing the configuration of the operating section of the medical manipulator according to the first embodiment of the present disclosure
  • FIG. 10 illustrates a pivot position teaching instrument
  • FIG. 4 is a diagram for explaining translational movement of an arm; It is a figure for demonstrating the rotational movement of an arm.
  • FIG. 1 is a block diagram (1) showing the configuration of a control unit of the medical manipulator according to the first embodiment of the present disclosure
  • FIG. It is a figure which shows the rotating shaft (linear motion axis) of an arm.
  • FIG. 4 is a diagram showing a translational movement mechanism and a rotation axis (linear movement axis) of a medical instrument;
  • FIG. 2 is a block diagram (2) showing the configuration of the control unit of the medical manipulator according to the first embodiment of the present disclosure;
  • FIG. 4 is a diagram for explaining a prohibited approach range and a first reference line according to the first embodiment of the present disclosure;
  • FIG. 10 is a diagram for explaining a first reference line that moves along a tangential direction of the prohibited-access range;
  • FIG. 11 is a diagram for explaining a state in which the first reference line moving along the tangential direction of the prohibited-access range gradually moves to a position based on the operation; 1 is a flow diagram for explaining a method of controlling a surgical system according to the first embodiment of the present disclosure;
  • FIG. 10 is a diagram for explaining a prohibited approach range and a second reference line according to the second embodiment of the present disclosure;
  • FIG. 10 is a diagram for explaining a second reference line and reference points according to the second embodiment of the present disclosure;
  • FIG. FIG. 10 is a flow diagram for explaining a method of controlling a surgical system according to a second embodiment of the present disclosure;
  • FIG. 11 is a diagram for explaining a second reference line that moves along the tangential direction of the prohibited area;
  • FIG. 10 is a diagram for explaining a prohibited approach range according to a modified example and a plane moving along a tangential direction of the prohibited approach range;
  • FIG. 11 is a diagram for explaining a plane for arm interference avoidance control
  • FIG. A surgical operation system 100 includes a medical manipulator 1 that is a patient P-side device and a remote control device 2 that is an operator-side device for operating the medical manipulator 1 .
  • the medical manipulator 1 has a medical cart 3 and is configured to be movable.
  • the remote control device 2 is arranged at a position separated from the medical manipulator 1 , and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2 .
  • the operator inputs a command to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation.
  • the remote control device 2 transmits the input command to the medical manipulator 1 .
  • the medical manipulator 1 operates based on the received commands.
  • the medical manipulator 1 is arranged in the operating room, which is a sterile sterile field.
  • the surgical operation system 100 is an example of a surgical operation support system.
  • the remote control device 2 is arranged inside or outside the operating room, for example.
  • the remote control device 2 includes an operating manipulator arm 21 , an operating pedal 22 , a touch panel 23 , a monitor 24 , a support arm 25 and a support bar 26 .
  • the operating manipulator arm 21 constitutes an operating handle for the operator to input commands.
  • the operating manipulator arm 21 receives an amount of operation for the medical instrument 4 .
  • the monitor 24 is a scope-type display device that displays images captured by the endoscope 6 .
  • the support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the operator's face.
  • the touch panel 23 is arranged on the support bar 26 .
  • a sensor (not shown) provided near the monitor 24 detects the operator's head, thereby enabling the medical manipulator 1 to be operated by the remote control device 2 .
  • the operator operates the operating manipulator arm 21 and the operating pedal 22 while viewing the affected area on the monitor 24 . Accordingly, a command is input to the remote control device 2 .
  • a command input to the remote control device 2 is transmitted to the medical manipulator 1 .
  • the operating manipulator arm 21 is an example of an operating section.
  • the medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1 and a storage unit 32 that stores programs for controlling the operation of the medical manipulator 1 and the like.
  • the controller 31 of the medical cart 3 controls the operation of the medical manipulator 1 based on the command input to the remote controller 2 .
  • the medical cart 3 is provided with an input device 33 .
  • the input device 33 is configured to receive operations for moving and changing postures of the positioner 40, the arm base 50, and the plurality of arms 60, mainly for preparing for surgery before surgery.
  • the medical manipulator 1 shown in FIGS. 1 and 2 is arranged in an operating room.
  • the medical manipulator 1 includes a medical cart 3 , a positioner 40 , an arm base 50 and a plurality of arms 60 .
  • Arm base 50 is attached to the tip of positioner 40 .
  • the arm base 50 has a relatively long rod shape (elongated shape).
  • the plurality of arms 60 are attached to the arm base 50 at the proximal ends of the respective arms 60 .
  • the plurality of arms 60 are configured to be able to take a folded posture (storage posture).
  • the arm base 50 and the plurality of arms 60 are used while being covered with a sterile drape (not shown).
  • the positioner 40 is composed of, for example, a 7-axis articulated robot. Also, the positioner 40 is arranged on the medical cart 3 . Positioner 40 moves arm base 50 . Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.
  • the positioner 40 also includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41 .
  • the plurality of link portions 42 are connected by joint portions 43 .
  • Medical instruments 4 include, for example, replaceable instruments, endoscopes 6 (see FIG. 6), and the like.
  • the instrument is provided with a driven unit 4a that is driven by a servomotor M2 provided in the holder 71 of the arm 60.
  • a forceps 4b is provided as an end effector at the tip of the instrument.
  • the forceps 4b has two end effector members 4b' and 4b''.
  • the instrument includes a first support 4e that supports the base end sides of the end effector members 4b' and 4b'' on the distal end side so as to be rotatable about the J11 axis;
  • a driven unit 4a includes a second support 4f that supports the base end of 4e rotatably around the J10 axis on the distal side, and a shaft 4c that is connected to the base end of the second support 4f.
  • the shaft 4c, the second support 4f, the first support 4e, and the forceps 4b are arranged along the Za direction, and the J11 axis is perpendicular to the direction in which the shaft 4c extends (Za direction). (z11 direction, see Fig. 12)
  • the J10 axis is separated from the J11 axis in the direction in which the shaft 4c extends and is orthogonal to the direction in which the shaft 4c extends and the J11 axis.
  • a forceps 4b is attached to the first support 4e so as to rotate around the rotation axis R1 of the J11 axis.
  • the second support 4f supports the first support 4e rotatably about the J10 axis. That is, the first support 4e is attached to the second support 4f so as to rotate about the rotation axis R2 of the J10 axis.
  • the portion on the tip side (Za1 direction side) of the first support 4e has a U shape.
  • a tool center point (TCP1) is set at the central portion of the U-shaped tip side portion of the first support 4e in the direction of the rotation axis R1.
  • the TCP 2 of the endoscope 6 is set at the distal end of the endoscope 6.
  • the arm 60 includes an arm portion 61 (base portion 62 , link portion 63 , joint portion 64 ) and a translational movement mechanism portion 70 provided at the tip of the arm portion 61 .
  • the arm 60 is configured to three-dimensionally move the distal end side with respect to the proximal end side (arm base 50) of the arm 60.
  • the plurality of arms 60 have the same configuration as each other.
  • the translational movement mechanism section 70 is provided on the distal end side of the arm section 61 and has the medical instrument 4 attached thereto. Further, the translational movement mechanism section 70 translates the medical device 4 in the direction of insertion into the patient P. As shown in FIG. Further, the translational movement mechanism section 70 is configured to relatively translate the medical device 4 with respect to the arm section 61 . Specifically, the translational movement mechanism section 70 is provided with a holder 71 that holds the medical instrument 4 . The holder 71 accommodates a servo motor M2 (see FIG. 10). The servo motor M2 is configured to rotate a rotating body provided in the driven unit 4a of the medical instrument 4. As shown in FIG. The forceps 4b are operated by rotating the rotating body of the driven unit 4a.
  • the arm part 61 is composed of a 7-axis articulated robot arm.
  • Arm portion 61 also includes a base portion 62 for attaching arm portion 61 to arm base 50 and a plurality of link portions 63 connected to base portion 62 .
  • the plurality of link portions 63 are connected by joint portions 64 .
  • the translational movement mechanism 70 is configured to translate the medical instrument 4 attached to the holder 71 along the Za direction (the direction in which the shaft 4c extends) by translating the holder 71 along the Za direction. ing.
  • the translational movement mechanism section 70 includes a proximal side link section 72 connected to the distal end of the arm section 61 , a distal side link section 73 , and a joint between the proximal side link section 72 and the distal side link section 73 . and a connecting link portion 74 provided therebetween.
  • the holder 71 is provided on the tip side link portion 73 .
  • the distal link portion 73 and the connecting link portion 74 are examples of the first link portion and the second link portion, respectively.
  • the connecting link portion 74 of the translational movement mechanism portion 70 is configured as a double-speed mechanism that relatively moves the distal side link portion 73 along the Za direction with respect to the proximal side link portion 72 .
  • the medical device 4 provided on the holder 71 translates along the Za direction by moving the distal side link portion 73 relative to the proximal side link portion 72 along the Za direction.
  • the distal end of the arm portion 61 is connected to the proximal side link portion 72 so as to rotate the proximal side link portion 72 about the X direction orthogonal to the Za direction.
  • the medical manipulator 1 includes an operating section 80 attached to the arm 60 and operating the arm 60 .
  • the operating section 80 includes an enable switch 81 , a joystick 82 and a switch section 83 .
  • Enable switch 81 permits or disallows movement of arm 60 by joystick 82 and switch unit 83 .
  • the enable switch 81 permits movement of the medical instrument 4 by the arm 60 .
  • a pair of enable switches 81 are provided on both sides of the outer peripheral surface 80 a of the operating portion 80 .
  • the switch unit 83 includes a switch unit 83a for moving the medical device 4 in the direction in which the medical device 4 is inserted into the patient P along the longitudinal direction of the medical device 4, and a direction in which the medical device 4 is inserted into the patient P. and a switch portion 83b for moving the medical instrument 4 on the opposite side. Both the switch section 83a and the switch section 83b are configured by push button switches.
  • the switch portions 83 are provided on both sides of the outer peripheral surface 80 a of the operation portion 80 . Specifically, a pair of switch portions 83 (a switch portion 83 a and a switch portion 83 b ) are provided on both side surfaces of the operation portion 80 .
  • the operation unit 80 includes a pivot button 85 for teaching a pivot position PP that serves as a fulcrum (see FIG. 9) for movement of the medical instrument 4 attached to the arm 60.
  • the pivot button 85 is provided adjacent to the enable switch 81 on the surface 80 b of the operation unit 80 . Then, the endoscope 6 (see FIG. 6) or the tip of the pivot position teaching instrument 7 (FIG. 7) is moved to a position corresponding to the insertion position of the trocar T inserted into the body surface S of the patient P. , the pivot button 85 is pushed, the pivot position PP is taught and stored in the storage unit 32 .
  • the pivot position PP is set as one point (coordinates), and the teaching of the pivot position PP does not set the direction of the medical instrument 4 .
  • a pair of pivot buttons 85 are provided on both sides of the outer peripheral surface 80 a of the operating portion 80 .
  • the endoscope 6 is attached to one arm 60 (for example, arm 60c) of the plurality of arms 60, and the remaining arms 60 (for example, arms 60a, 60b and 60d) are attached. is attached with a medical instrument 4 other than the endoscope 6 .
  • the endoscope 6 is attached to one arm 60 of the four arms 60, and the medical instruments 4 (such as the forceps 4b) other than the endoscope 6 are attached to the three arms 60. .
  • the pivot position PP1 is taught with the endoscope 6 attached to the arm 60 to which the endoscope 6 is attached.
  • the pivot position PP2 is taught with the pivot position teaching instrument 7 attached to the arm 60 to which the medical instrument 4 other than the endoscope 6 is attached.
  • the endoscope 6 is attached to one of the two centrally arranged arms 60 (arms 60b and 60c) of the four arms 60 arranged adjacent to each other. That is, the pivot position PP is set individually for each of the multiple arms 60 .
  • the arm 60b is an example of a second arm.
  • the arm 60c is an example of a first arm.
  • an adjustment button 86 for optimizing the position of the arm 60 is provided on the surface 80b of the operation portion 80.
  • the position of the other arm 60 (arm base 50) is optimized by pressing the adjustment button 86.
  • a pair of adjustment buttons 86 are provided on both sides of the outer peripheral surface 80 a of the operating portion 80 .
  • the operation unit 80 has a mode of translational movement (see FIG. 8) and a mode of rotational movement (see FIG. 9) of the medical instrument 4 (or endoscope 6) attached to the arm 60. It includes a mode switching button 84 for switching between modes.
  • a mode indicator 84 a is provided near the mode switching button 84 .
  • a mode indicator 84a displays the switched mode. Specifically, the current mode (translational movement mode or rotational movement mode) is displayed by turning on (rotational movement mode) or turning off (translational movement mode) the mode indicator 84a.
  • the mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.
  • the arm 60 in the mode of translationally moving the arm 60, the arm 60 is moved so that the tip 4d of the medical instrument 4 moves on the XY plane. Further, as shown in FIG. 9, in the mode of rotating the arm 60, when the pivot position PP is not taught, the arm 60 rotates about the forceps 4b, and when the pivot position PP is taught, the pivot The arm 60 is moved so that the medical device 4 rotates about the position PP. The medical instrument 4 is rotated while the shaft 4c of the medical instrument 4 is inserted into the trocar T. As shown in FIG.
  • the arm 60 is provided with a plurality of servomotors M1, an encoder E1, and a speed reducer (not shown) so as to correspond to the plurality of joints 64 of the arm portion 61.
  • the encoder E1 is configured to detect the rotation angle of the servomotor M1.
  • the speed reducer is configured to slow down the rotation of the servomotor M1 and increase the torque.
  • the translational movement mechanism section 70 includes a servo motor M2 for rotating a rotating body provided in the driven unit 4a of the medical instrument 4, and a motor for translating the medical instrument 4.
  • a servomotor M3, encoders E2 and E3, and a speed reducer (not shown) are provided.
  • Encoder E2 and encoder E3 are configured to detect the rotation angles of servo motor M2 and servo motor M3, respectively.
  • the speed reducer is configured to slow down the rotation of the servomotors M2 and M3 to increase the torque.
  • the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a speed reducer (not shown) so as to correspond to the plurality of joints 43 of the positioner 40.
  • the encoder E4 is configured to detect the rotation angle of the servomotor M4.
  • the speed reducer is configured to slow down the rotation of the servo motor M4 and increase the torque.
  • the medical cart 3 is provided with a servomotor M5 that drives each of the front wheels (not shown) of the medical cart 3, an encoder E5, and a speed reducer (not shown).
  • the encoder E5 is configured to detect the rotation angle of the servomotor M5.
  • the speed reducer is configured to slow down the rotation of the servo motor M5 and increase the torque.
  • the medical cart 3 is provided with a servomotor M5 that drives each of a plurality of front wheels (not shown) of the medical cart 3, an encoder E5, and a speed reducer and a brake (not shown).
  • the speed reducer is configured to slow down the rotation of the servo motor M5 and increase the torque.
  • a potentiometer P1 (see FIG. 1) is provided in the throttle section 34a of the medical cart 3. Based on the rotation angle detected by the potentiometer P1 according to the twist of the throttle section 34a, the front wheel servomotor M5 is rotated. driven.
  • the rear wheels (not shown) of the medical trolley 3 are of a twin-wheel type, and are steered by turning the operation handle 34 left and right (in the R direction).
  • the operation handle 34 of the medical cart 3 is provided with a potentiometer P2 (see FIG. 2), and the rear wheel of the medical cart 3 is provided with a servomotor M6, an encoder E6, and a speed reducer (not shown). ing.
  • the speed reducer is configured to slow down the rotation of the servo motor M6 and increase the torque.
  • the servomotor M6 is driven based on the rotation angle detected by the potentiometer P2 according to the right and left (R direction) rotation of the operating handle 34. FIG. That is, the steering of the rear wheels by turning the operating handle 34 left and right (R direction) is power assisted by the servomotor M6.
  • the servomotor M5 and the servomotor M6 are an example of a medical cart drive unit.
  • the medical trolley 3 moves in the front-rear direction by driving the front wheels.
  • the operating handle 34 of the medical cart 3 by turning the operating handle 34 of the medical cart 3, the rear wheels are steered, and the medical cart 3 is turned left and right.
  • the control unit 31 of the medical cart 3 includes an arm control unit 31a that controls movement of the plurality of arms 60 based on commands, and a positioner 40 that moves and controls the front and rear wheels (not shown) of the medical cart 3 based on commands. ) and a positioner control unit 31b for controlling the driving of A servo control unit C1 for controlling a servo motor M1 for driving the arm 60 is electrically connected to the arm control unit 31a.
  • An encoder E1 for detecting the rotation angle of the servomotor M1 is electrically connected to the servo control unit C1.
  • a servo control unit C2 for controlling a servo motor M2 for driving the medical instrument 4 is electrically connected to the arm control unit 31a.
  • An encoder E2 for detecting the rotation angle of the servomotor M2 is electrically connected to the servo control unit C2.
  • a servo control section C3 for controlling a servo motor M3 for translating the translational movement mechanism section 70 is electrically connected to the arm control section 31a.
  • An encoder E3 for detecting the rotation angle of the servomotor M3 is electrically connected to the servo control unit C3.
  • the motion command input to the remote control device 2 is input to the arm control section 31a.
  • the arm control unit 31a generates a position command based on the input motion command and the rotation angle detected by the encoder E1 (E2, E3), and sends the position command to the servo control unit C1 (C2, C3). Output.
  • the servo control unit C1 (C2, C3) generates a torque command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 (E2, E3). is output to the servo motor M1 (M2, M3). Thereby, the arm 60 moves according to the operation command input to the remote control device 2 .
  • the arm control section 31 a operates the arm 60 based on an input signal from the joystick 82 of the operation section 80 .
  • the arm control unit 31a generates a position command based on the input signal (operation command) input from the joystick 82 and the rotation angle detected by the encoder E1, and sends the position command to the servo control unit.
  • Servo control unit C1 generates a torque command based on the position command input from arm control unit 31a and the rotation angle detected by encoder E1, and outputs the torque command to servo motor M1.
  • the arm 60 moves according to the operation command input to the joystick 82 .
  • the arm control section 31 a is configured to operate the arm 60 based on an input signal from the switch section 83 of the operation section 80 . Specifically, the arm control unit 31a generates a position command based on the input signal (operation command) input from the switch unit 83 and the rotation angle detected by the encoder E1 or E3, and outputs the position command. Output to servo control section C1 or C3. Servo control unit C1 or C3 generates a torque command based on the position command input from arm control unit 31a and the rotation angle detected by encoder E1 or E3, and transmits the torque command to servo motor M1 or M3. output to Thereby, the arm 60 moves according to the operation command input to the switch section 83 .
  • the positioner control section 31b is electrically connected to a servo control section C4 for controlling a servomotor M4 that moves the positioner 40.
  • a servo control section C4 for controlling a servomotor M4 that moves the positioner 40.
  • An encoder E4 for detecting the rotation angle of the servomotor M4 is electrically connected to the servo control unit C4.
  • a servo control unit C5 for controlling a servo motor M5 that drives the front wheels (not shown) of the medical cart 3 is electrically connected to the positioner control unit 31b.
  • An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5.
  • a servo control unit C6 for controlling a servo motor M6 that drives the rear wheels (not shown) of the medical cart 3 is electrically connected to the positioner control unit 31b.
  • An encoder E6 for detecting the rotation angle of the servo motor M6 is electrically connected to the servo control unit C6.
  • an operation command from the input device 33 is input to the positioner control section 31b.
  • the positioner control unit 31b generates a position command based on the motion command input from the input device 33 and the rotation angle detected by the encoder E4, and outputs the position command to the servo control unit C4.
  • the servo control unit C4 generates a torque command based on the position command input from the positioner control unit 31b and the rotation angle detected by the encoder E4, and outputs the torque command to the servo motor M4.
  • the positioner 40 moves according to the operation command input to the input device 33 .
  • the positioner control unit 31b moves the medical cart 3 according to the operation command from the operation handle 34 by the same procedure.
  • the arm 60 has seven or more joint axes (eight axes in the first embodiment). Specifically, the arm 60 has J1 to J7 axes as rotation axes and J8 axis as a linear motion axis.
  • the J1 to J7 axes correspond to the rotation axes of the joint portion 64 of the arm portion 61 .
  • the J7 axis corresponds to the proximal side link portion 72 of the translational movement mechanism portion 70 (see FIG. 3).
  • the J8 axis corresponds to an axis that relatively moves the distal side link portion 73 of the translational movement mechanism portion 70 with respect to the proximal side link portion 72 along the Za direction.
  • the servo motor M1 shown in FIG. 10 is provided so as to correspond to the J1 to J7 axes of the arm 60.
  • a servo motor M3 is provided to correspond to the J8 axis.
  • the J1 axis and the J7 axis are examples of the base end axis and the rotation axis, respectively.
  • the medical instrument 4 (forceps 4b) has a J9 axis as the rotation axis of the shaft 4c (an axis along the direction in which the shaft 4c extends) and a second support 4f connected to the shaft 4c. It has a J10 axis as a rotation axis, a J11 axis as an axis around which the forceps 4b rotates with respect to the first support 4e, and a J12 axis as an opening/closing axis of the forceps 4b.
  • a plurality of (for example, four) servomotors M2 are provided in the holder 71 of the arm 60, and the driven unit 4a is driven by the plurality of servomotors M2. As a result, the medical device 4 is driven around the J9 axis to the J12 axis.
  • An operation on the medical instrument 4 is accepted by the operation manipulator arm 21 of the remote control device 2 .
  • the arm control unit 31a of the control unit 31 includes a medical device posture control unit 31c, an interference avoidance unit 31e, a medical device inverse kinematics calculation unit 31h, and an arm joint control unit 31d.
  • the arm joint controller 31d also includes a redundant joint controller 31f and an arm inverse kinematics calculator 31g.
  • a target position/posture command of the medical device 4 corresponding to the accepted operation is input from the operating manipulator arm 21 to the medical device posture control unit 31c, and position information of the pivot position PP (PP1, PP2) is also input. be.
  • the medical device posture control unit 31c calculates the target position/posture of the medical device 4 based on the target position/posture command, the position information of the pivot position PP, and the avoidance angle calculated by the interference avoidance unit 31e.
  • the calculated target position/orientation of the medical device 4 is input to the medical device inverse kinematics calculation unit 31h.
  • the medical device inverse kinematics calculation unit 31h calculates a target rotation angle command for the medical device 4 based on the target position/orientation of the medical device 4 and the joint movable range, and calculates the target rotation angle command for the medical device 4 as a medical device. It is transmitted to the servo control section C2 of the instrument 4. The servo controller C2 drives the medical device 4 based on the transmitted target rotation angle command.
  • the medical device posture control unit 31c calculates the target tip position/posture of the arm 60 based on the target position/posture command, the position information of the pivot position PP, and the avoidance angle calculated by the interference avoidance unit 31e. do.
  • the calculated target end position/orientation of the arm 60 is transmitted to the arm inverse kinematics calculation unit 31g.
  • the joint movable range is input to the arm inverse kinematics calculation unit 31g.
  • the arm inverse kinematics calculation unit 31g calculates a target joint angle command of the arm 60 based on the target tip position/posture of the arm 60, the redundant joint angle, and the joint movable range, and calculates the target joint angle command of the arm 60.
  • An angle command is sent to the arm 60 servo controllers C1 and C3.
  • Servo controllers C1 and C3 drive arm 60 based on the transmitted target joint angle command.
  • the actual joint angle of the arm 60 is input from the arm 60 to the redundant joint control section 31f and the interference avoidance section 31e. Also, the minimum accessible distance and the width W of the medical device 4 are input to the interference avoidance unit 31e. Based on the actual joint angle of the arm 60, the minimum accessible distance, and the width W of the medical device 4, the interference avoidance unit 31e determines the avoidance angle (the first reference line L1, which will be described later, is the prohibited approach range A). (rotation amount for moving the arm 60 so as to move along the outer edge of the arm 60) is calculated and transmitted to the medical instrument attitude control section 31c.
  • the redundant joint control unit 31f converts the redundant joint angles (for two of the eight axes of the arm 60 that are redundant axes) calculated based on the actual joint angles of the arm 60 and the constraint conditions to the arm It is transmitted to the inverse kinematics calculation unit 31g.
  • control unit 31 controls the operation of the medical instrument 4 based on the operation accepted by the operating manipulator arm 21 .
  • the arm 60c to which the endoscope 6 is attached is in a stopped state (not subject to operation).
  • the arm 60b arranged adjacent to the arm 60c to which the endoscope 6 is attached in the arm base 50 is operated by the manipulator arm 21 for operation.
  • the direction in which the medical device 4 attached to the arm 60b extends is the Za direction, and the direction perpendicular to the Za direction is the Ya direction (or the Xa direction).
  • the direction in which the endoscope 6 attached to the arm 60c extends is the Zb direction, and the direction perpendicular to the Zb direction is the Yb direction (or the Xb direction).
  • the controller 31 (arm joint controller 31d) should not approach the endoscope 6 attached to the arm 60c of the plurality of arms 60.
  • a no-approach range A is set.
  • the prohibited-access range A is a substantially cylindrical space whose axis is a straight line in the extending direction (Zb direction) of the endoscope 6, which is set so that the arm 60b does not collide with the arm 60c.
  • the radius of the prohibited approach range A is, for example, the minimum accessible distance r (FIG. 15(d )) and half the width W of the medical device 4 attached to the arm 60b (W/2, see FIG. 15(d)).
  • the width W of the medical device 4 means the width W of the arm 60b in the X direction orthogonal to the Zb direction.
  • control unit 31 (arm joint control unit 31d) performs the following control (the first reference line L1 setting, calculation of the first rotation amount, and comparison between the first rotation amount and the second rotation amount).
  • the control unit 31 (arm joint control unit 31d) is orthogonal to the Za direction in which the medical device 4 extends, and is the tip of the arm 60 to which the medical device 4 is attached.
  • a first reference line L1 passing through the connecting link portion 74 connected to the side link portion 73 is set.
  • the first reference line L1 is orthogonal to the Za direction in which the shaft 4c extends, and contacts the end portion 75 of the connecting link portion 74 on the tip side (Za1 direction side) of the shaft 4c.
  • the first reference line L1 is a vector extending from the shaft 4c in the Ya2 direction so as to contact (along) the end 75 of the connecting link portion 74 of the translational movement mechanism 70 on the Za1 direction side.
  • the first reference line L1 touches the portion (end portion 75) of the translation mechanism portion 70 that is closest to the trocar T (port).
  • the port means a hole provided on the body surface S of the patient P into which the medical instrument 4 is inserted.
  • the first reference line L1 is an example of a reference line.
  • the control unit 31 controls the amount of rotation of the arm 60b (hereinafter referred to as , the first amount of rotation) is calculated. Specifically, the control unit 31 controls the movement of the arm 60b when the arm 60b is rotated around the shaft 4c so that the first reference line L1 is along the tangential direction of the outer peripheral surface A1 of the approximately cylindrical prohibition range A. is calculated.
  • the first rotation amount of the arm 60b when performing the arm interference avoidance control is controlled so as to rotate the arm 60b about the shaft 4c in accordance with the received operation. If it is greater than the amount of rotation of the arm 60b (hereinafter referred to as the second amount of rotation) when doing so, arm interference avoidance control is performed. That is, the control unit 31 compares the second rotation amount and the first rotation amount, and if the first rotation amount is larger than the second rotation amount, adopts the first rotation amount as the rotation amount of the arm 60b.
  • the control unit 31 adopts the first rotation amount as the rotation amount of the arm 60b.
  • the arm 60b is moved relative to the arm 60c so that the first reference line L1 moves along the outer edge of the prohibited-access range A (the tangential direction of the outer peripheral surface A1 of the substantially cylindrical prohibited-access range A).
  • the control unit 31 causes the first reference line L1 to move toward the prohibited approach range A of the substantially cylindrical shape.
  • Arm interference avoidance control is performed so as to move along the tangential direction (B direction) of the outer peripheral surface A1 of .
  • the controller 31 controls the pivot position PP1 set to the endoscope 6 attached to the arm 60c. and the pivot position PP2 set on the medical instrument 4 attached to the arm 60b (bold line in FIG. 15A), and the direction in which the endoscope 6 attached to the arm 60c extends (Zb direction).
  • the first mounting position P11 of the endoscope 6 with respect to the arm 60c and the second mounting position P12 of the medical instrument 4 with respect to the arm 60b are on opposite sides of the plane SF1 (Xb-Zb plane) including the straight line of If it is positioned, perform arm interference avoidance control.
  • the “attachment position” means the position where the endoscope 6 (medical instrument 4 ) is attached to the arm 60 .
  • the control unit 31 moves the arm 60b within the prohibited approach range A of the arm 60c by moving the arm 60c.
  • the approaching state see FIG. 16(a)
  • the arm 60b is controlled to gradually move to the position based on the accepted operation (see FIGS. 16(b) and 16(c)).
  • the arm 60c is switched to the operation target, and the arm 60c is moved. At this time, the arm 60c moves so that the arm 60c is tilted without moving the pivot position PP1 of the endoscope 6.
  • FIG. 16A the prohibited approach range A also tilts with the tilt of the arm 60c.
  • the arm 60b is controlled (see FIGS. 16B and 16C) to gradually move to the position based on the accepted operation. At this time, the arm 60b is moved while the pivot position PP2 of the medical instrument 4 remains stationary. Note that the gradual return operation may be started not only when the arm 60b is not the operation target, but also after the arm 60b is switched to the operation target.
  • step S ⁇ b>1 the control section 31 (arm control section 31 a ) receives an operation on the medical instrument 4 by the operating manipulator arm 21 . Then, the control unit 31 calculates the second amount of rotation according to the accepted operation.
  • step S2 the control unit 31 (arm control unit 31a) sets a prohibited approach range A to which the endoscope 6 attached to the arm 60c of the plurality of arms 60 should not be approached.
  • step S3 the control unit 31 (arm control unit 31a) causes the arm 60b (arm unit 61, translational movement mechanism unit 70) to enter the prohibited approach range A in response to the accepted operation. Determine whether or not
  • step S4 a first reference line L1 that is orthogonal to the Za direction in which the medical device 4 (shaft 4c) extends and that passes through the connecting link portion 74 (contacts the end portion 75) is set. do.
  • step S5 the first rotation amount of the arm 60b when the arm 60b is moved so that the first reference line L1 is along the outer edge (tangential direction) of the prohibited-access range A is calculated.
  • step S6 the control unit 31 (arm control unit 31a) compares the second amount of rotation with the first amount of rotation, and determines whether the first amount of rotation is greater than the second amount of rotation.
  • step S7 the arm moves the arm 60b relative to the arm 60c so that the first reference line L1 moves along the outer edge (tangential direction) of the prohibited approach range A.
  • Perform interference avoidance control That is, the control unit 31 performs arm interference avoidance control to move the arm 60b relative to the arm 60c when the arm 60b approaches the prohibited approach range A of the arm 60c.
  • step S3 If no in step S3 and no in step S6, the control unit 31 gradually moves the arm 60b to the posture corresponding to the second rotation amount in step S8.
  • the control unit 31 causes the first reference line L1 to move along the outer edge of the prohibited approach range A.
  • Arm interference avoidance control is performed to move the arm 60b relative to the arm 60c so as to move.
  • the first reference line L1 moves along the outer edge of the prohibited-access range A, thereby moving the arm 60b relative to the arm 60c. to move around.
  • the arm 60b is restrained from approaching the arm 60c, interference between the arms 60 can be avoided.
  • interference between the arms 60 can be avoided simply by moving the first reference line L1 set with respect to the arm 60b along the outer edge of the prohibited approach range A of the arm 60c. Control for avoiding interference can be facilitated as compared with the case where the prohibited approach range A is set for both of 60b and the virtual displacement force between the prohibited approach ranges A is calculated. As a result, interference between arms 60 can be avoided while facilitating control for avoiding interference.
  • the prohibited-access range A is a space having a substantially cylindrical shape whose axis is the Zb direction in which the endoscope 6 extends, which is set so that the arm 60b does not collide with the arm 60c.
  • the control unit 31 sets the first reference line L1 to the prohibited approach range A of the substantially cylindrical shape. Arm interference avoidance control is performed so as to move along the tangential direction of the outer peripheral surface A1.
  • the prohibited approach range A is set to have a substantially cylindrical shape extending in the Zb direction in which the endoscope 6 extends. interference can be avoided.
  • the first reference line L1 is orthogonal to the direction in which the shaft 4c extends, which is the Za direction in which the medical device 4 extends, and the direction in which the shaft 4c of the connecting link portion 74 extends. It is set so as to be in contact with the end portion 75 on the tip side. Then, the control unit 31 performs arm interference avoidance control so that the first reference line L1 moves along the outer edge of the prohibited approach range A.
  • the end 75 of the connecting link portion 74 on the distal end side of the shaft 4c is relatively likely to interfere with the arm 60c (or the endoscope 6 attached to the arm 60c).
  • the arm interference avoidance control is performed so that the first reference line L1, which is in contact with the tip end portion 75 of the shaft 4c of the connecting link portion 74, moves along the outer edge of the prohibited approach range A.
  • interference of the end portion 75 of the shaft 4c on the distal end side of the connecting link portion 74, which is relatively prone to interference, can be effectively suppressed.
  • the control unit 31 controls the arm 60b so that the first rotation amount of the arm 60b when performing the arm interference avoidance control moves the arm 60b according to the received operation. If it is greater than the second amount of rotation of the arm 60b when doing so, arm interference avoidance control is performed. Accordingly, the arm 60b is moved based on the larger one of the first rotation amount of the arm interference avoidance control and the second rotation amount of the control according to the accepted operation (that is, the arm 60c ), the interference between the arms 60 can be further suppressed.
  • the control unit 31 controls the pivot position PP1 set to the endoscope 6 attached to the arm 60c and the pivot position PP1 set to the medical instrument 4 attached to the arm 60c.
  • a first attachment position P11 of the endoscope 6 with respect to the arm 60c and the arm 60b are relative to a plane SF1 including a straight line L20 connecting the position PP2 and a straight line in the direction in which the endoscope 6 attached to the arm 60c extends.
  • Arm interference avoidance control is performed when the second mounting position P12 of the medical device 4 is located on the opposite side to the .
  • the arms 60c and 60b may interfere with each other. Therefore, by configuring as described above, interference between the arms 60 can be appropriately suppressed.
  • the control unit 31 60b controls to gradually return to the position based on the accepted operation.
  • the arm 60b may be gradually returned after it becomes the operation target again. As a result, the range of motion narrowed by the avoidance motion can be restored.
  • the remote control device 2 has the arm base 50 to which the plurality of arms 60 are attached, and the arms 60c and 60b are arranged side by side.
  • the arms 60c and 60b are particularly likely to interfere with each other. It is particularly effective to perform arm interference avoidance control so as to move along the outer edge.
  • the attitude of the arm 60 for maintaining the pivot position PP which is the fulcrum position when moving the medical device 4 is determined by the amount of rotation (movement) of the six joint axes of the arm 60. Since seven or more joint axes are provided for the arm 60, redundant axes are generated. That is, the arm 60b can take different postures while maintaining the pivot position PP. Therefore, by providing seven or more joint axes of the arm 60, the posture of the arm 60b can be changed so as to suppress interference with the arm 60c while maintaining the pivot position PP.
  • the first reference line L1 is set to the prohibited approach range A.
  • a step S7 is included in which arm interference avoidance control is performed to move the arm 60b relative to the arm 60c so as to move along the outer edge.
  • the arm 60b moves around the arm 60c, so compared to the case where the no-approach range A is set for both the arm 60c and the arm 60b and the virtual displacement force is calculated, in order to avoid interference While facilitating the control of the arm 60, interference between the arms 60 can be avoided.
  • the rotation center of the J7 axis (the rotation center of the base end link portion 72) that is orthogonal to the Za direction in which the shaft 4c extends and that rotates the connecting link portion 74 D, see FIG. 19) is set.
  • the control unit 231 performs arm interference avoidance control so that the second reference line L2 moves along the outer edge of the prohibited approach range A.
  • the second reference line L2 is an example of a reference line. A specific description will be given below.
  • a pivot position PP2 which is a fulcrum for moving the medical instrument 4 attached to the arm 60, is set with respect to the arm 60 (arm 60b).
  • the control unit 231 is configured in advance to radially move the medical device 4 with respect to the pivot position PP2, which is the fulcrum position for moving the medical device 4 attached to the arm 60b.
  • a reference point RP is set on a straight line along the J1 axis. Specifically, when a perpendicular is drawn from the reference point RP on the J1 axis to the shaft 4c of the medical device 4, the center of the J8 axis (range of movement of the J8 axis that moves linearly) is drawn along the direction of the perpendicular.
  • a reference point RP1 is set so that the center of the J7 axis and the rotation center D of the J7 axis are arranged.
  • step S11 the control unit 231 receives an operation on the medical instrument 4 by the manipulator arm 21 for operation. Then, the control unit 231 moves the reference point RP in the x-axis direction according to the arrangement position of the arm 60 . Note that the reference point after movement is set as a specified reference point RP1.
  • FIG. 19 shows the reference point RP1 of the arm 60c to which the endoscope 6 is attached, the same applies to the arm 60c to which the medical instrument 4 is attached.
  • steps S2 and S3 are the same as in the first embodiment.
  • step S12 the second reference line L2, which is set so as to pass through the center of the J8 axis provided in the translational movement mechanism 70 and the rotation center D of the J7 axis, is aligned with the outer edge of the prohibited approach range A.
  • a reference point RP2 is calculated along (tangential direction).
  • the coordinate system of the endoscope 6 of the arm 60c is defined.
  • the origin is the pivot position PP1 of the arm 60c (endoscope 6).
  • the y-axis is along the outer product direction of the vector connecting the pivot position PP1 and the pivot position PP2 of the arm 60b (medical instrument 4) and the axis vector (z-axis) of the shaft 6a of the endoscope 6.
  • the x-axis is along the outer product direction of the axial vector of the shaft 6a of the endoscope 6 and the y-axis vector.
  • the origin of the medical instrument 4 on the arm 60b is projected onto the xy plane of the coordinate system of the endoscope 6.
  • the origin of the medical instrument 4 is the origin of the coordinate system that controls the medical instrument 4 .
  • a reference point RP2 is calculated such that the second reference line L2 is along the tangential direction of the prohibited-access range A. Note that the reference point RP2 is arranged on the x-axis perpendicular to the J1 axis. As a result, the reference point RP2 is moved so that the reference point RP2 is arranged on the extension line of the second reference line L2.
  • step S13 the control unit 31 determines whether the amount of movement of the reference point RP2 after movement is larger than the amount of movement of the reference point RP1 (the amount of movement from the reference point RF) (separation from the J1 axis). or not).
  • step S13 arm interference avoidance control is performed so that the second reference line L2 moves along the outer edge of the prohibited approach range A in step S14.
  • the second reference line When the movement amount L12 (L13) of the reference point RP2 is large such that L2 is along the tangential direction of the prohibited approach range A, arm interference avoidance control is performed.
  • the control unit 231 moves the reference point RP2 along the extension line of the second reference line L2. Arm interference avoidance control is performed so that the second reference line L2 moves along the outer edge of the prohibited approach range A.
  • step S3 or step S13 If step S3 or step S13 is no, proceed to step S15 to move the arm 60b to a posture corresponding to the specified reference point RP1.
  • the second reference line L2 is orthogonal to the direction in which the shaft 4c extends and is set so as to pass through the rotation center D of the J7 axis that rotates the connecting link portion 74. ing.
  • the control unit 231 performs arm interference avoidance control so that the second reference line L2 moves along the outer edge of the prohibited-access range A.
  • the translational movement mechanism 70 which is relatively prone to interference, is moved along the outer edge of the prohibited approach range A, so interference between the arms 60 can be effectively suppressed.
  • the control unit 231 moves the medical device 4 attached to the arm 60 in advance to the pivot position PP1, which is the fulcrum position when the medical device 4 is moved.
  • a reference point RP for radial movement is set on a straight line along the J1 axis.
  • Arm interference avoidance control is performed by moving the reference point RP2 so as to move along the outer edge of .
  • arm interference avoidance control can be performed using the preset reference point RP, so that it is possible to suppress large changes in the control of the surgical operation system 200 .
  • control unit 231 controls the control unit 231 when the movement amount of the reference point RP2 moved by the arm interference avoidance control is larger than the movement amount of the reference point RP1 based on the received operation. , to perform arm interference avoidance control. As a result, the arm 60c is moved away from the arm 60b, so interference between the arms 60 can be appropriately suppressed.
  • the arm 60b moves with respect to the arm 60c to avoid interference between the arm 60c and the arm 60b, but the present disclosure is limited to this. do not have.
  • interference between arms 60c and 60b may be avoided by moving arm 60c relative to arm 60b.
  • interference between the arms 60c and 60b may be avoided by moving both the arms 60b and 60c.
  • the arm 60b is moved so that the first reference line L1 (second reference line L2) moves along the outer edge of the prohibited approach range A.
  • the present disclosure is not limited thereto.
  • the arm 60b may be moved so that the plane SF, which is the portion closer to the base end of the shaft 4c than the 1-reference line L1, is set and the plane SF moves along the outer edge of the prohibited-access range A.
  • the prohibited-access range A is a space having a substantially cylindrical shape
  • the present disclosure is not limited to this.
  • the prohibited approach range A may have a shape other than a substantially cylindrical shape (a prismatic shape, etc.).
  • the first reference line L1 is set so as to contact the tip end portion 75 of the shaft 4c of the connecting link portion 74, but the present disclosure is directed to this. Not limited. For example, if there is a portion of the translational movement mechanism 70 that is more likely to interfere with the arm 60c than the tip end 75 of the shaft 4c of the connecting link 74, the first reference line L1 is set so as to contact this portion. may
  • the first mounting position P11 of the endoscope 6 with respect to the arm 60c and the second mounting position P12 of the medical instrument 4 with respect to the arm 60b are positioned with respect to the plane SF1 (Xb-Zb plane).
  • the present disclosure is not limited to this.
  • arm interference avoidance control is performed. may be performed.
  • the plane SF1 is the Xb-Zb plane
  • the present disclosure is not limited to this.
  • a straight line in the direction (Za direction) in which the medical device 4 attached to the arm 60b extends Xa-Za plane
  • control unit 31 controls the first attachment position P11 of the endoscope 6 with respect to the arm 60c and the second attachment position P11 of the medical instrument 4 with respect to the arm 60b with respect to the plane SF3 (Xa-Za plane). Arm interference avoidance control may be performed when the mounting position P12 is located on the opposite side.
  • the arm 60b when the state in which the arm 60b approaches the prohibited approach range A of the arm 60c is released, the arm 60b is gradually moved to the position based on the accepted operation.
  • the disclosure is not limited thereto.
  • arm 60b may not be moved to the position based on the accepted operation even if the state in which arm 60b approaches within prohibited approach range A of arm 60c is cancelled.
  • the present disclosure is not limited to this.
  • the number of arms 60 may be any other number as long as at least one is provided.
  • the arm unit 61 and the positioner 40 are configured by the seven-axis articulated robot, but the present disclosure is not limited to this.
  • the arm part 61 may be configured by an articulated robot having more than seven axes.
  • the positioner 40 may be composed of an articulated robot with an axis configuration (for example, 6-axis or 8-axis) other than the 7-axis articulated robot.
  • the medical manipulator 1 includes the medical cart 3, the positioner 40, the arm base 50, and the arm 60 is shown, but the present disclosure is not limited to
  • the medical carriage 3, the positioner 40, and the arm base 50 are not necessarily required, and the medical manipulator 1 may be composed of the arm 60 alone.
  • ASICs Application Specific Integrated Circuits
  • a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits.
  • a circuit, unit, or means is hardware that performs or is programmed to perform the recited functions.
  • the hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions.
  • a circuit, means or unit is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware and/or the processor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)

Abstract

Dans ce système d'assistance chirurgicale (100), lorsqu'un second bras (60b) s'approche de l'intérieur de la plage (A) d'une plage d'interdiction d'approche par rapport à un premier bras (60c), une unité de commande effectue une commande d'évitement d'interférence de bras pour déplacer le second bras (60b) par rapport au premier bras (60c) de telle sorte qu'une ligne de référence (L1) se déplace le long du bord externe de la plage d'interdiction d'approche.
PCT/JP2021/046775 2021-02-12 2021-12-17 Système d'assistance chirurgicale, dispositif côté patient et procédé de commande d'un système d'assistance chirurgicale Ceased WO2022172590A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US18/264,767 US12478443B2 (en) 2021-02-12 2021-12-17 Robotic surgical system, patient-side apparatus, and control method for robotic surgical system
EP21925833.2A EP4292558A4 (fr) 2021-02-12 2021-12-17 Système d'assistance chirurgicale, dispositif côté patient et procédé de commande d'un système d'assistance chirurgicale

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JP2021-020457 2021-02-12
JP2021020457A JP2022123258A (ja) 2021-02-12 2021-02-12 手術支援システム、患者側装置および手術支援システムの制御方法

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EP (1) EP4292558A4 (fr)
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JP2025152923A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 手術ロボットシステムおよびその制御方法

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See also references of EP4292558A4

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JP2022123258A (ja) 2022-08-24
US20240122664A1 (en) 2024-04-18
EP4292558A1 (fr) 2023-12-20
EP4292558A4 (fr) 2024-08-14
US12478443B2 (en) 2025-11-25

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